Adaptive backstepping control of train systems with traction/braking dynamics and uncertain resistive forces

• Published in: Vehicle system dynamics Vol. 49; no. 9; pp. 1441 - 1454
• Main Authors: Song, Qi, Song, Y. D., Cai, Wenchuan
• Format: Journal Article
• Language: English
• Published: Colchester Taylor & Francis 01.09.2011
• Subjects: adaptive backstepping control; Applied sciences; asymptotic stability; automatic train operation; Braking; Computer science; control theory; systems; Control system synthesis; Control systems; Control theory. Systems; Design engineering; Drives; Dynamical systems; Dynamics; Exact sciences and technology; Mathematical models; Mechanical engineering. Machine design; resistance coefficients; Shafts, couplings, clutches, brakes; Traction; Trains; Aerodynamic drag; Braking; resistance coefficients; Position control; adaptive backstepping control; Friction stress; High precision; Control synthesis; Rail vehicle; Aerodynamic force; Traction; Adaptive control; Modeling; Asymptotic stability; Uncertain system; High speed train; automatic train operation; Speed control
• ISSN: 0042-3114; 1744-5159
• DOI: 10.1080/00423114.2010.520084

Although backstepping control design approach has been widely utilised in many practical systems, little effort has been made in applying this useful method to train systems. The main purpose of this paper is to apply this popular control design technique to speed and position tracking control of high-speed trains. By integrating adaptive control with backstepping control, we develop a control scheme that is able to address not only the traction and braking dynamics ignored in most existing methods, but also the uncertain friction and aerodynamic drag forces arisen from uncertain resistance coefficients. As such, the resultant control algorithms are able to achieve high precision train position and speed tracking under varying operation railway conditions, as validated by theoretical analysis and numerical simulations.